6 accepted papers
Maneuverable multicamera systems offer potential benefits in abdominal minimally-invasive procedures, including multi-view scene reconstruction and optimal viewpoint capture. Effective autonomous movement and re-positioning of such systems, however, remains an open challenge due to dynamic motion co…
Surgical robots have been introduced to operating rooms over the past few decades due to their high sensitivity, small size, and remote controllability. The cable-driven nature of many surgical robots allows the systems to be dexterous and lightweight, with diameters as low as 5mm. However, due to t…
Deformable objects and surfaces are ubiquitous in the daily lives of humans - from the garments in fashion to soft tissues within the body. Because of this routine interaction with soft materials, humans are adept and trained in manipulation of deformable objects while avoiding irreversible damage.…
The real-time and robust surgical instrument segmentation is an important issue for endoscopic vision. We propose an instrument segmentation method fusing the convolutional neural networks (CNN) prediction and the kinematic pose information. First, the CNN model ToolNet-C is designed, which cascades
The real-time and robust surgical instrument segmentation is an important issue for endoscopic vision. We propose an instrument segmentation method fusing the convolutional neural networks (CNN) prediction and the kinematic pose information. First, the CNN model ToolNet-C is designed, which cascades…
3D reconstruction and surgical tool segmentation are necessary for several advanced tasks in robot-assisted laparoscopic surgery. These tasks include vision-based force estimation, surgical guidance, and medical image registration where pre-operative data (CT or MRI scan image slices) are overlaid o…